Vacuum suction cylinder assembly

The present invention relates to a vacuum suction cylinder assembly in which a plurality of vacuum suction cylinders are connected to each other.

For an apparatus for sucking and conveying an electronic component or the like, there is known a technique in which a suction tool is provided at a distal end of a piston rod that moves up and down by a cylinder, and vacuum is supplied to the suction tool.

For example, JP 2000-165094 A discloses a suction conveyance assembly. The suction conveyance assembly includes a pneumatic cylinder in which a hollow piston rod having a vacuum guide passage communicating with a suction tool provided at the tip thereof reciprocates, an air supply block attached to the pneumatic cylinder, and a vacuum generation block. It also describes the stacking of the suction conveyance assemblies.

However, in the case where a plurality of independently controllable vacuum suction cylinders are connected, sufficient consideration has not been given to facilitating handling such as addition and removal of the vacuum suction cylinders. Further, also from the viewpoint of improving responsiveness by, for example, reducing the flow rate necessary for the operation of each vacuum suction cylinder, sufficient consideration has not been given.

The present invention has been made in view of such circumstances, and has the object of providing a vacuum suction cylinder assembly which is easy to handle. Further, the present invention has the object of providing a vacuum suction cylinder assembly having good responsiveness with respect to the operation of each vacuum suction cylinder.

A vacuum suction cylinder assembly according to the present invention comprises a plurality of vacuum suction cylinders connected in a predetermined direction, wherein the plurality of vacuum suction cylinders are connected to each other by being sandwiched between a first flow path block and a second flow path block by using tie rods respectively inserted through insertion holes penetrating a side wall of a cylinder tube of each of the vacuum suction cylinders, insertion holes provided in the first flow path block, and insertion holes provided in the second flow path block.

According to the above-described vacuum suction cylinder assembly, the plurality of vacuum suction cylinders can be easily connected to each other, and a request to increase or decrease the number of vacuum suction cylinders can be easily accommodated. In addition, air can be rapidly supplied to and discharged from each vacuum suction cylinder.

In the vacuum suction cylinder assembly according to the present invention, the plurality of vacuum suction cylinders are sandwiched between the first flow path block and the second flow path block by using the tie rods inserted through the cylinder tube of each vacuum suction cylinder, the first flow path block, and the second flow path block. Therefore, the plurality of vacuum suction cylinders can be easily connected to each other, and a request to increase or decrease the number of vacuum suction cylinders can be easily accommodated. In addition, since the flow path blocks are disposed on both sides of the plurality of vacuum suction cylinders, air can be rapidly supplied to and discharged from each vacuum suction cylinder, thereby improving responsiveness.

Preferred embodiments of the basic structure of a vacuum suction cylinder assembly according to the present invention will be described below with reference to the accompanying drawings. In the following description, when the terms in relation to the up, down, left, and right directions are used, for the sake of convenience, such terms refer to the directions shown in the drawings, however, the actual arrangement of the respective component members is not necessarily limited to this feature.

As shown in, a vacuum suction cylinder assemblyis formed by connecting a plurality of vacuum suction cylindersA toF in a lateral direction, is attached to the tip of a robot arm, and is used to pick up, for example, tablets and convey them to a packing position.

The plurality of vacuum suction cylindersA toF are disposed between a first flow path blockand a second flow path block. In the present embodiment, a total of six vacuum suction cylindersA toF are disposed. Since the vacuum suction cylindersA toF have the same structure, the vacuum suction cylinderA adjacent to the first flow path blockwill be described below as a representative thereof.

As shown in, the vacuum suction cylinderA includes: a cylinder portion including a cylinder tubeand a piston; an ejector portion including an ejector bodyand a suction pad; and a solenoid valve portion.

The cylinder tubehaving a quadrangular prism shape is divided into an upper cylinder tubeand a lower cylinder tube. An intermediate cover bodyis provided between the lower end portion of the upper cylinder tubeand the upper end portion of the lower cylinder tube, and an end cover bodyis attached to the lower end portion of the lower cylinder tube.

The pistonis slidably provided inside the lower cylinder tube. The lower end portion of an upper rodand the upper end portion of a lower rodare inserted through and fixed to the center of the pistonso as to abut against each other in the axial direction. The upper rodhas an upper rod holepenetrating in the axial direction thereof, and the lower rodhas a lower rod holepenetrating in the axial direction thereof. The upper rod holeand the lower rod holecommunicate with each other to form a passage for air to be supplied to the ejector portion.

The upper rodextends upward from the piston, is inserted through the intermediate cover body, and further extends into the upper cylinder tube. The lower rodextends downward from the piston, is inserted through the end cover body, and further extends to the outside. The ejector bodyis connected, by screwing, to the end portion of the lower rodthat extends to the outside. A pair of rod packingsin sliding contact with the upper rodare attached to the intermediate cover body. A rod packingin sliding contact with the lower rodis attached to the end cover body.

A cylinder holeprovided inside the lower cylinder tubeis partitioned into a lower first pressure chamberand an upper second pressure chamberby the piston. A piston packingin sliding contact with the cylinder holeis mounted on the outer periphery of the piston. The side wall of the lower cylinder tubeincludes a first passagecommunicating with the first pressure chamber, and a second passagecommunicating with the second pressure chamber. The first passageand the second passageextend in a direction perpendicular to the longitudinal direction of the lower cylinder tube, and are open to one side surfaceof the lower cylinder tube.

The upper rodis housed in a cylinder holeprovided inside the upper cylinder tube. A third pressure chambercommunicating with the upper rod holeis formed between the wall surface of the cylinder holeand the outer periphery of the upper rod. The third pressure chambercommunicates with the interior of the ejector bodythrough the upper rod holeand the lower rod hole

A seal ringfor sealing the first pressure chamberfrom the outside is attached to the end cover body. A seal ringfor sealing the second pressure chamberfrom the outside and a seal ringfor sealing the third pressure chamberfrom the outside are attached to the intermediate cover body.

The side wall of the upper cylinder tubeincludes a third passagecommunicating with the third pressure chamber. The third passageextends in a direction perpendicular to the longitudinal direction of the upper cylinder tube, and is open to one side surfaceof the upper cylinder tube. The side surfaceof the upper cylinder tubeto which the third passageis open is a side surface that matches the side surfaceof the lower cylinder tubeto which the first passageand the second passageare open, and both side surfaces are flush with each other.

As shown in, the solenoid valve portion is formed of a first cylinder solenoid valve, a second cylinder solenoid valve, and an ejector solenoid valve. The first cylinder solenoid valveis provided for switching between supply and discharge of air to and from the first pressure chamber. The second cylinder solenoid valveis provided for switching between supply and discharge of air to and from the second pressure chamber. The ejector solenoid valveis provided for switching between supply and discharge of air to and from the third pressure chamber.

The first cylinder solenoid valvecovers the opening of the first passageand is attached to the side surfaceof the lower cylinder tube. The second cylinder solenoid valvecovers the opening of the second passageand is attached across the side surfaceof the lower cylinder tubeand the side surfaceof the upper cylinder tube. The ejector solenoid valvecovers the opening of the third passageand is attached to the side surfaceof the upper cylinder tube.

The first passageis connected to the first cylinder solenoid valve. The second passageis connected to the second cylinder solenoid valve. The third passageis connected to the ejector solenoid valve.

As shown in, the side wall that constitutes the side surfaceof the lower cylinder tubeincludes, in order from the bottom, a first transverse exhaust passagefor cylinder, a first transverse supply passagefor cylinder, a second transverse supply passagefor cylinder, and a second transverse exhaust passagefor cylinder. The supply passages,and the exhaust passages,penetrate across the side wall of the lower cylinder tube, and both ends of each passage are open to the outside. A seal ringis attached via a groove portion to the opening portion located on the left side among the opening portions at both ends (see). Note thatis a cross-sectional view including a cross-section taken along line III-III in, which passes through the solenoid valves,,and bends, but for the sake of convenience, the cross-section of each of the solenoid valves,,is omitted.

The first transverse exhaust passagefor cylinder is disposed below the first passage, and the first transverse supply passagefor cylinder is disposed above the first passage. The first transverse exhaust passagefor cylinder is connected to the first cylinder solenoid valvevia a first branch passagethat is open to the side surfaceof the lower cylinder tube. The first transverse supply passagefor cylinder is connected to the first cylinder solenoid valvevia a second branch passagethat is open to the side surfaceof the lower cylinder tube.

Further, the second transverse supply passagefor cylinder is disposed below the second passage, and the second transverse exhaust passagefor cylinder is disposed above the second passage. The second transverse supply passagefor cylinder is connected to the second cylinder solenoid valvevia a third branch passagethat is open to the side surfaceof the lower cylinder tube. The second transverse exhaust passagefor cylinder is connected to the second cylinder solenoid valvevia a fourth branch passagethat is open to the side surfaceof the lower cylinder tube.

The side wall that constitutes the side surfaceof the upper cylinder tubeincludes a transverse supply passagefor ejector and a transverse exhaust passagefor ejector. The transverse supply passagefor ejector and the transverse exhaust passagefor ejector penetrate across the side wall of the upper cylinder tube, and both ends of each passage are open to the outside. The seal ringis attached via a groove portion to the opening portion located on the left side among the opening portions at both ends (see).

The transverse supply passagefor ejector is disposed below the third passage, and the transverse exhaust passagefor ejector is disposed above the third passage. The transverse supply passagefor ejector is connected to the ejector solenoid valvevia a fifth branch passagethat is open to the side surfaceof the upper cylinder tube. The transverse exhaust passagefor ejector is connected to the ejector solenoid valvevia a sixth branch passagethat is open to the side surfaceof the upper cylinder tube.

The first transverse exhaust passagefor cylinder, the first transverse supply passagefor cylinder, the second transverse supply passagefor cylinder, the second transverse exhaust passagefor cylinder, the transverse supply passagefor ejector, and the transverse exhaust passagefor ejector extend in a direction perpendicular to the longitudinal direction of the cylinder tube, and are arranged parallel to each other in the up-down direction (direction parallel to the axis of the cylinder tube).

As shown in, the first cylinder solenoid valveconnects the first pressure chamberto the first transverse exhaust passagefor cylinder when energized, and connects the first pressure chamberto the first transverse supply passagefor cylinder when de-energized. The second cylinder solenoid valveconnects the second pressure chamberto the second transverse supply passagefor cylinder when energized, and connects the second pressure chamberto the second transverse exhaust passagefor cylinder when de-energized. The ejector solenoid valveconnects the third pressure chamberto the transverse supply passagefor ejector when energized, and connects the third pressure chamberto the transverse exhaust passagefor ejector when de-energized.

The lower cylinder tubeincludes a first insertion holeand a second insertion holepositioned between the first transverse supply passagefor cylinder and the second transverse supply passagefor cylinder. The first insertion holeand the second insertion holepenetrate across the side wall of the lower cylinder tube, and both ends of each hole are open to the outside.

The upper cylinder tubeincludes a third insertion holepositioned below the transverse supply passagefor ejector. The third insertion holepenetrates across the side wall of the upper cylinder tube, and both ends thereof are open to the outer surface of the upper cylinder tube. Together with the first transverse exhaust passagefor cylinder and the like described above, the first insertion hole, the second insertion hole, and the third insertion holeextend in a direction perpendicular to the longitudinal direction of the cylinder tube, and are arranged in parallel to each other in the up-down direction.

The ejector bodyis attached to the end portion of the lower rodthat protrudes downward from the lower cylinder tube. When air is supplied into the ejector bodyfrom the third pressure chambervia the upper rod holeand the lower rod hole, the air passes through a nozzle (not shown) in the ejector bodyand is discharged to the outside. At this time, vacuum pressure (negative pressure) is generated in the suction padby the air in the suction padbeing sucked.

Next, the configuration of the first flow path blockwill be described. Note that the second flow path blockhas the same structure as the first flow path block, and description of the configuration of the second flow path blockwill be omitted.

As shown in, the first flow path blockincludes a supply passagefor ejector, a supply passagefor cylinder, and a common exhaust passage. The supply passagefor ejector is formed of a lateral supply flow pathfor ejector that is connected to the transverse supply passagefor ejector of the vacuum suction cylinderA and extends in the lateral direction, and a vertical supply flow pathfor ejector that communicates with the lateral supply flow pathfor ejector and extends toward the upper surface of the first flow path block.

The supply passagefor cylinder is formed of a first lateral supply flow pathfor cylinder, a second lateral supply flow pathfor cylinder, and a vertical supply flow pathfor cylinder. The first lateral supply flow pathfor cylinder is connected to the first transverse supply passagefor cylinder of the vacuum suction cylinderA and extends in the lateral direction. The second lateral supply flow pathfor cylinder is connected to the second transverse supply passagefor cylinder of the vacuum suction cylinderA and extends in the lateral direction. The vertical supply flow pathfor cylinder communicates with the first lateral supply flow pathfor cylinder and the second lateral supply flow pathfor cylinder, and extends toward the upper surface of the first flow path block.

The common exhaust passageis formed of a first lateral exhaust flow pathfor cylinder, a second lateral exhaust flow pathfor cylinder, a lateral exhaust flow pathfor ejector, and a vertical exhaust flow path. The first lateral exhaust flow pathfor cylinder is connected to the first transverse exhaust passagefor cylinder of the vacuum suction cylinderA and extends in the lateral direction. The second lateral exhaust flow pathfor cylinder is connected to the second transverse exhaust passagefor cylinder of the vacuum suction cylinderA and extends in the lateral direction. The lateral exhaust flow pathfor ejector is connected to the lateral transverse exhaust passagefor ejector of the vacuum suction cylinderA and extends in the lateral direction. The vertical exhaust flow pathcommunicates with the first lateral exhaust flow pathfor cylinder, the second lateral exhaust flow pathfor cylinder, and the lateral exhaust flow pathfor ejector, and extends toward the upper surface of the first flow path block.

The upper surface of the first flow path blockis provided with: an ejector supply portconnected to the vertical supply flow pathfor ejector; a cylinder supply portconnected to the vertical supply flow pathfor cylinder; and an exhaust portconnected to the vertical exhaust flow path. Air is supplied from an air supply source (not shown) to the ejector supply portand the cylinder supply port. The exhaust portis open to the atmosphere.

The first flow path blockis provided with a first insertion holeand a second insertion holepositioned between the first lateral supply flow pathfor cylinder and the second lateral supply flow pathfor cylinder. The first insertion holeand the second insertion holepenetrate across the first flow path block. In addition, the first flow path blockis provided with a third insertion holepositioned between the second lateral exhaust flow pathfor cylinder and the lateral supply flow pathfor ejector. The third insertion holepenetrates across the first flow path block.

As shown in, the plurality of vacuum suction cylindersA toF are connected to each other by being sandwiched between the first flow path blockand the second flow path blockby using first to third tie rodsto. The first tie rodis inserted through the first insertion holeof the first flow path block, the first insertion holesof the vacuum suction cylindersA toF, and the first insertion holeof the second flow path block, and is fixed by nutsthat are screwed onto both ends of the first tie rod

Similarly, the second tie rodis inserted through the second insertion holeof the first flow path block, the second insertion holesof the vacuum suction cylindersA toF, and the second insertion holeof the second flow path block, and is fixed by the nuts. The third tie rodis inserted through the third insertion holeof the first flow path block, the third insertion holesof the vacuum suction cylindersA toF, and the third insertion holeof the second flow path block, and is fixed by the nuts. In, the transverse supply passages,, andand the transverse exhaust passages,, andof the vacuum suction cylinderA or the like are omitted. In addition, the lateral supply flow paths,, andand the lateral exhaust flow paths,, andof the first flow path blockare also omitted.

A first end plateis disposed outside the first flow path block, and a second end plateis disposed outside the second flow path block. The first to third tie rodstoare also inserted through the first end plateand the second end plate. Seal rings (not shown) are also attached at a predetermined position on the joint surface between the first flow path blockand the first end plateand at a predetermined position on the joint surface between the second flow path blockand the second end plate. However, the first end plateand the second end platemay not be provided.

In the present embodiment, a total of six vacuum suction cylindersA toF are connected, but an appropriate number of vacuum suction cylinders can be added or removed. In this case, it is preferable that the first to third tie rodstohaving different lengths are prepared, and the first to third tie rodstohaving appropriate lengths are used according to the number of connected vacuum suction cylinders.

When the plurality of vacuum suction cylindersA toF are connected to each other, the first transverse exhaust passagesfor cylinder of the respective vacuum suction cylindersA toF are aligned in a straight line in the lateral direction and communicate with each other. Similarly, the first transverse supply passagesfor cylinder, the second transverse supply passagesfor cylinder, the second transverse exhaust passagesfor cylinder, the transverse supply passagesfor ejector, and the transverse exhaust passagesfor ejector are respectively aligned in a straight line in the lateral direction and communicate with each other.

The first transverse exhaust passagefor cylinder of the vacuum suction cylinderA is connected to the first lateral exhaust flow pathfor cylinder of the first flow path block. The first transverse supply passagefor cylinder of the vacuum suction cylinderA is connected to the first lateral supply flow pathfor cylinder of the first flow path block. The second transverse supply passagefor cylinder of the vacuum suction cylinderA is connected to the second lateral supply flow pathfor cylinder of the first flow path block. The second transverse exhaust passagefor cylinder of the vacuum suction cylinderA is connected to the second lateral exhaust flow pathfor cylinder of the first flow path block. The transverse supply passagefor ejector of the vacuum suction cylinderA is connected to the lateral supply flow pathfor ejector of the first flow path block. The transverse exhaust passagefor ejector of the vacuum suction cylinderA is connected to the lateral exhaust flow pathfor ejector of the first flow path block.

The first transverse exhaust passagefor cylinder of the vacuum suction cylinderF is connected to the first lateral exhaust flow pathfor cylinder of the second flow path block. The first transverse supply passagefor cylinder of the vacuum suction cylinderF is connected to the first lateral supply flow pathfor cylinder of the second flow path block. The second transverse supply passagefor cylinder of the vacuum suction cylinderF is connected to the second lateral supply flow pathfor cylinder of the second flow path block. The second transverse exhaust passagefor cylinder of the vacuum suction cylinderF is connected to the second lateral exhaust flow pathfor cylinder of the second flow path block. The transverse supply passagefor ejector of the vacuum suction cylinderF is connected to the lateral supply flow pathfor ejector of the second flow path block. The transverse exhaust passagefor ejector of the vacuum suction cylinderF is connected to the lateral exhaust flow pathfor ejector of the second flow path block.

Accordingly, air can be simultaneously supplied from both the cylinder supply portof the first flow path blockand the cylinder supply portof the second flow path blockto the first transverse supply passagefor cylinder and the second transverse supply passagefor cylinder of each of the vacuum suction cylindersA toF. In addition, air can be simultaneously supplied from both the ejector supply portof the first flow path blockand the ejector supply portof the second flow path blockto the transverse supply passagefor ejector of each of the vacuum suction cylindersA toF. Further, the first transverse exhaust passagefor cylinder, the second transverse exhaust passagefor cylinder, and the transverse exhaust passagefor ejector of each of the vacuum suction cylindersA toF are open to the atmosphere via both the exhaust portof the first flow path blockand the exhaust portof the second flow path block. As a result, supply and discharge of air to and from the first cylinder solenoid valve, the second cylinder solenoid valve, and the ejector solenoid valveof each of the vacuum suction cylindersA toF are performed rapidly, and responsiveness is improved.

The vacuum suction cylinder assemblyaccording to the embodiment of the present invention is basically configured as described above, and the operation thereof will be described below.

For all of the plurality of vacuum suction cylindersA toF, a state in which energization of the first cylinder solenoid valve, the second cylinder solenoid valve, and the ejector solenoid valveis stopped is defined as an initial state.

Since the energization of the first cylinder solenoid valveis stopped, the first pressure chamberof each of the vacuum suction cylindersA toF is connected to the first transverse supply passagefor cylinder. Further, since the energization of the second cylinder solenoid valveis stopped, the second pressure chamberof each of the vacuum suction cylindersA toF is connected to the second transverse exhaust passagefor cylinder.

Therefore, air from the cylinder supply portof the first flow path blockor the second flow path blockis supplied to each first pressure chambervia the supply passagefor cylinder, or the like. Further, the air in each second pressure chamberis exhausted from the exhaust portof the first flow path blockor the second flow path blockvia the common exhaust passageor the like. Accordingly, the pistonsof the vacuum suction cylindersA toF are at the raised position, and the suction padsare also held at the raised position.